Memorias de investigación
Research Publications in journals:
Motion Control of Underwater Mine Explorer Robot UX-1: Field Trials
Year:2019

Research Areas
  • Electric engineers, electronic and automatic (eil)

Information
Abstract
In this work, we present the results of a series of field trials conducted with an underwater vehicle in the increasingly complex underwater environments of the Kaatiala mine in Finland, the Idrija mine in Slovenia, and the Urgeiri\c{c}a mine in Portugal. These field experiments have been performed to test and validate the motion control systems of the underwater explorer robot (UX-1), which are: a variable ballast system for buoyancy control, a variable pitch system for pitch control, and a propulsion system for depth and heading stabilization. The control method implemented is based on a state Feedback Linearization algorithm, previously tested and validated in a controlled water tank environment. Several experiments are shown which demonstrate the successful operation of the motion control systems in individual performance tests. Afterwards, a full exploration and geo-scientific data collection mission is presented, where all of the motion control systems are active simultaneously during a deep dive to more than 100 m. The results obtained in the field tests demonstrate the effectiveness of the motion control systems and validate the UX-1 Robot platform as capable of performing the complex task of navigation and control in flooded mine environments.
International
Si
JCR
Si
Title
Ieee Access
ISBN
2169-3536
Impact factor JCR
4,098
Impact info
Datos JCR del año 2018
Volume
10.1109/ACCESS.2019.2930544
Journal number
From page
1
To page
1
Month
SIN MES
Ranking
Participants

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Visión por Computador y Robótica Aérea
  • Grupo de Investigación: Robótica y Cibernética
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC